CN111376731A - Rail train wheel rail adhesion control method - Google Patents
Rail train wheel rail adhesion control method Download PDFInfo
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- CN111376731A CN111376731A CN201811618540.0A CN201811618540A CN111376731A CN 111376731 A CN111376731 A CN 111376731A CN 201811618540 A CN201811618540 A CN 201811618540A CN 111376731 A CN111376731 A CN 111376731A
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000012545 processing Methods 0.000 claims description 8
- 238000001914 filtration Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 abstract 1
- 229910000831 Steel Inorganic materials 0.000 description 28
- 239000010959 steel Substances 0.000 description 28
- 238000012937 correction Methods 0.000 description 8
- 230000010363 phase shift Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 7
- 230000003137 locomotive effect Effects 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a rail train wheel rail adhesion control method, which comprises the following steps: inputting a creep signal into an electromagnetic torque signal of traction electricity; detecting a speed signal of a traction motor and a torque current signal of the traction motor; acquiring the phase of the speed signal and the phase of the torque current signal; inputting the phase of the speed signal and the phase of the torque current signal to a linear controller, the linear controller calculating a phase difference between the phase of the speed signal and the phase of the torque current signal; the linear controller controls the phase difference value of the speed signal and the torque current signal to be equal to the preset value, so that the traction motor can be detected and controlled in real time, and idling and sliding between the wheel rails are avoided.
Description
Technical Field
The invention relates to the technical field of rail train manufacturing, in particular to a rail train wheel rail adhesion control method.
Background
The power of the rail train is provided by a power bogie, the power bogie comprises a traction motor and a wheel pair in transmission connection with the traction motor, the wheel pair is in contact with the steel rail, and the traction motor drives the wheel pair to rotate so as to drive the rail train to run on the steel rail through the friction force between the wheel pair and the steel rail; when the train is in a traction working condition, if the braking force of the train is greater than the maximum adhesive force which can be provided by the wheel rail, the sliding phenomenon can occur. When the torque output by the traction motor reaches a certain value, the wheel set idles on the steel rail, so that the idling phenomenon occurs, and the wheel set or the steel rail is easily scratched by idling and sliding; therefore, how to control the torque of the traction motor becomes a hot point of research.
In the prior art, linear velocities of four wheel sets of different power trucks are detected by a velocity sensor, after the four linear velocities of a moving axis are obtained, velocity detection is performed on a wheel set without a trailing axle of the power truck, the maximum value and the minimum value of the four linear velocities of the moving axis and the trailing axle are removed, and the average value of residual linear velocity values is taken as a reference velocity. When the speed of the moving shaft is greater than the reference speed, the vehicle idles, and the idling is restrained by reducing the traction output of the moving shaft.
However, in the conventional art, idling is suppressed by reducing the exertion of traction force of the locomotive after the locomotive has been subjected to idling sliding, and the maximum adhesion point cannot be predicted, so that idling sliding is continuously generated.
Disclosure of Invention
In view of the above, the present invention provides a method for controlling adhesion of a wheel and a rail of a rail train, so as to solve the technical problem that when sliding occurs between a wheel set and a steel rail, the sliding is detected, and only the time for sliding between the wheel set and the steel rail is reduced, which may cause damage to the steel rail or the wheel set.
The invention provides a rail train wheel rail adhesion control method, which comprises the following steps:
inputting a creep signal to a traction motor;
detecting a speed signal of the traction motor and a torque current signal of the traction motor;
acquiring the phase of the speed signal and the phase of the torque current signal;
inputting the phase of the speed signal and the phase of the torque current signal to a linear controller, the linear controller calculating a phase difference between the phase of the speed signal and the phase of the torque current signal;
the linear controller controls the torque of the traction motor so that the phase difference is equal to a preset value.
In the method for controlling rail-train wheel-rail adhesion as described above, preferably, the controller corrects the electromagnetic torque signal of the traction motor so that the phase difference is equal to a preset value.
In the method for controlling adhesion of a rail train wheel and rail as described above, preferably, the creep signal is a sinusoidal signal.
In the method for controlling the adhesion of the wheel rail of the rail train, preferably, the amplitude of the creep signal is not greater than 5% of the amplitude of the driving signal of the traction motor.
In the rail train wheel rail adhesion control method as described above, the speed signal of the traction motor is preferably detected by an angular velocity sensor.
In the rail train wheel rail adhesion control method, the torque current signal is preferably obtained by an inverter.
The method for controlling rail-train wheel-rail adhesion as described above preferably includes, before obtaining the phases of the speed signal and the torque current signal:
and carrying out filtering processing on the speed signal.
In the method for controlling rail train wheel-rail adhesion as described above, the speed signal is preferably filtered by a low-pass filter and a high-pass filter.
The method for controlling rail-train wheel-rail adhesion as described above preferably includes, before obtaining the phases of the speed signal and the torque current signal:
and carrying out filtering processing on the torque current signal.
In the method for controlling rail train wheel-rail adhesion as described above, the torque current signal is preferably filtered by a low-pass filter and a high-pass filter.
The invention provides a rail train wheel-rail adhesion control method, which comprises the steps of inputting a creep signal to a traction motor, detecting a speed signal of the traction motor and a torque current signal of the traction motor, calculating a phase difference between the speed signal and the torque current signal by a linear controller, and controlling the torque of the traction motor by the linear controller so as to enable the phase difference to be equal to a preset value; the traction motor can be detected and controlled in real time, the wheel set in transmission connection with the traction motor is prevented from sliding with the steel rail, and the steel rail or the wheel set is prevented from being scratched.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for controlling adhesion of a wheel rail of a rail train according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The power of the rail train is provided by a power bogie, the power bogie comprises a traction motor and a wheel pair in transmission connection with the traction motor, the wheel pair is in contact with the steel rail, and the traction motor drives the wheel pair to rotate so as to drive the rail train to run on the steel rail through the friction force between the wheel pair and the steel rail; when the train is in a traction working condition, if the braking force of the train is greater than the maximum adhesive force which can be provided by the wheel rail, the sliding phenomenon can occur. When the torque output by the traction motor reaches a certain value, the wheel set idles on the steel rail, so that the idling phenomenon occurs, and the wheel set or the steel rail is easily scratched by idling and sliding; therefore, how to control the torque of the traction motor becomes a hot point of research.
In the prior art, linear velocities of four wheel sets of different power trucks are detected by a velocity sensor, after the four linear velocities of a moving axis are obtained, velocity detection is performed on a wheel set without a trailing axle of the power truck, the maximum value and the minimum value of the four linear velocities of the moving axis and the trailing axle are removed, and the average value of residual linear velocity values is taken as a reference velocity. When the speed of the moving shaft is greater than the reference speed, the vehicle idles, and the idling is restrained by reducing the traction output of the moving shaft.
However, in the prior art, when the wheel set slides with the steel rail, the wheel set can be detected, and only the time for the wheel set to slide with the steel rail can be reduced, so that the steel rail or the wheel set is damaged.
Fig. 1 is a flowchart of a method for controlling adhesion of a wheel rail of a rail train according to an embodiment of the present invention.
Please refer to fig. 1. The embodiment provides a rail train wheel rail adhesion control method, which comprises the following steps: s101, inputting a creep signal to the traction motor.
S102, detecting a speed signal of the traction motor and a torque current signal of the traction motor.
And S103, acquiring the phase of the speed signal and the phase of the torque current signal.
And S104, inputting the phase of the speed signal and the phase of the torque current signal into the linear controller, and calculating the phase difference between the phase of the speed signal and the phase of the torque current signal by the linear controller.
And S105, controlling the torque of the traction motor by the linear controller so that the phase difference is equal to a preset value.
The adhesion coefficient is the ratio of the tangential force of the steel rail and the wheel set to the axle load, so that the maximum creep torque of the wheel set on the steel rail can be improved by increasing the adhesion coefficient on the premise of certain axle load, and the torque utilization rate of the traction motor is further improved. From the adhesion characteristic curve between the adhesion coefficient and the creep speed, the adhesion coefficient can take a maximum value when the creep slope takes zero.
Let G (r) be the dynamic model system of the locomotive transmission, and r be the slope of the adhesion characteristic curve. According to the linear system theory, the amplitude is A, the frequency is f, and the phase is
Sinusoidal creep signal of (a):
where ψ (f, r) is referred to as the phase shift, which is a function of the creep signal frequency f and the slope r of the system sticking characteristic. Obviously, keeping the frequency f of the creep signal constant, the phase shift varies only with the slope r of the adhesion characteristic curve, i.e., # (f, r) # ψ (r). Further, there is a single-value correspondence between the phase shift ψ (r) and the slope r of the adhesion characteristic curve, so that the slope r of the corresponding adhesion characteristic curve can be uniquely determined from the phase shift ψ (r). The phase shift corresponding to the zero slope r of the adhesion characteristic can then be determined. The one-to-one relationship between the slope r of the characteristic curve and the phase shift ψ (r) can be determined by the orthogonal correlation method.
In this embodiment, the controller for controlling the operation of the traction motor adds the creep signal when transmitting the electromagnetic torque signal to the inverter. And after receiving the electromagnetic torque signal, the inverter controls the traction motor to work. After the creep signal acts on the traction motor, the rotating speed of the traction electric appliance is fluctuated.
In the embodiment, the rotating speed of the traction motor can be detected through the angular speed sensor, and the linear speed of the wheel pair in transmission connection with the traction motor is calculated according to the rotating speed.
In this embodiment, the torque current signal transmitted to the traction motor may be obtained by detecting an inverter that supplies power to the traction motor. Specifically, the torque current signal may be obtained by the inverter stator current signal and the vector control angle.
Under the excitation of the creep signal, the speed signal and the torque current signal are both sinusoidal signals. The phase of the speed signal and the phase of the torque current signal at a certain time can be obtained by analyzing the speed signal and the torque current signal.
The linear controller receives the phase of the speed signal and the phase of the torque current signal, and then obtains the phase difference between the speed signal and the torque current signal, wherein the phase difference is the phase shift at the moment. And comparing the phase difference with a preset value, and further controlling the torque of the traction motor to enable the phase difference to be equal to the preset value.
The preset value is a corresponding phase shift value when the slope of the creep characteristic curve is close to zero and does not reach zero, so that the adhesion coefficient is close to the maximum value.
Specifically, when the phase difference is larger than a preset value, the linear controller transmits a correction value larger than 0 and smaller than 1 to the controller, and the controller receives the correction value and then controls the electromagnetic torque signal to change, so that the inverter receiving the electromagnetic torque signal reduces the current transmitted to the traction motor, the power of the traction motor is reduced, and further the torque of the traction motor is reduced, and the wheel set or the steel rail is prevented from being damaged due to relative sliding between the wheel set and the steel rail. And then, when the phase of the traction motor is smaller than the preset value, the linear controller transmits a correction value equal to 1 to the controller, and the controller receives the correction value and then controls the electromagnetic torque signal to change, so that the inverter receiving the electromagnetic torque signal increases the current transmitted to the traction motor, the power of the traction motor is increased, the torque of the traction motor is further increased, and the traction force of the rail train is improved on the premise of avoiding the sliding between the wheel pair and the steel rail.
According to the rail train control method provided by the embodiment, a creep signal is input into a traction motor, a speed signal of the traction motor and a torque current signal of the traction motor are detected, a linear controller calculates a phase difference between the speed signal and the torque current signal, and the linear controller controls the torque of the traction motor to enable the phase difference to be equal to a preset value; the traction motor can be detected and controlled in real time, the wheel set in transmission connection with the traction motor is prevented from sliding with the steel rail, and the steel rail or the wheel set is prevented from being scratched.
In this embodiment, the creep signal is a sinusoidal signal and is based on the adhesion characteristic curve and the entire vehicle model. The automatic control principle determines the frequency of the creep signal. Within the image of the adhesion characteristic, an image corresponding to the derivative of the adhesion characteristic is made. I.e. the adhesion characteristic slope curve; when the amplitude-frequency characteristic and the phase-frequency characteristic of a plurality of points on the adhesion characteristic slope curve are relatively consistent, the corresponding frequency is the frequency of the creep signal.
Specifically, the magnitude of the creep signal is no greater than 5% of the magnitude of the traction motor drive signal. The influence of the creep signals on the rotating speed of the traction motor is avoided, and the running speed of the rail train is further prevented from being influenced. In particular, the drive signal may be an electromagnetic torque signal.
In this embodiment, before obtaining the phases of the speed signal and the torque current signal, the method further includes: and carrying out filtering processing on the speed signal. To reduce interference in the speed signal.
Specifically, the velocity signal may be filtered by a high-pass filter to remove high-frequency components in the velocity signal; or the velocity signal is processed by a low-pass filter to remove low-frequency components in the velocity signal.
Further, in the present embodiment, the speed signal is subjected to filtering processing by a high-pass filter and a low-pass filter. The high and low frequency components of the velocity signal may be removed to further reduce interference in the velocity signal.
It is noted that after the speed signal of the traction motor is acquired by the angular velocity sensor, the analog signal output by the speed sensor is converted into a digital signal by the analog-to-digital converter.
In this embodiment, before obtaining the phases of the speed signal and the torque current signal, the method includes: and carrying out filtering processing on the torque current signal.
Specifically, the torque current signal may be filtered by a high-pass filter to remove high frequency components in the torque current signal; or the torque current signal is processed through a low-pass filter to remove low-frequency components in the torque current signal.
Further, in the present embodiment, the torque current signal is subjected to filter processing by a high-pass filter and a low-pass filter. The high and low frequency components of the torque current signal may be removed to further reduce interference in the torque current signal.
Specifically, the low-pass filter in the present embodiment may be a fourth-order low-pass filter.
The rail train wheel rail adhesion control method provided by the embodiment comprises the following steps: firstly, a creep signal is input into an electromagnetic torque signal of a traction motor through a controller. Then detecting the rotating speed of the traction motor through an angular speed sensor, and calculating a speed signal of a wheel pair in transmission connection with the traction motor according to the rotating speed; the velocity signal is processed by a high pass filter and a low pass filter and is fed to a linear controller. Meanwhile, a torque current signal transmitted to the traction motor is acquired through the inverter, the torque current signal is processed through the high-pass filter and the low-pass filter, and the processed torque current signal is transmitted to the linear controller. The linear controller calculates the phase difference between the speed signal and the torque current signal, compares the phase difference with a preset value, and when the phase difference is larger than the preset value, the linear controller transmits a correction value which is larger than 0 and smaller than 1 to the controller, and the controller receives the correction value and then controls the electromagnetic torque signal to change, so that the inverter receiving the electromagnetic torque signal reduces the current transmitted to the traction motor, the power of the traction motor is reduced, the torque of the traction motor is further reduced, and the wheel pair or the steel rail is prevented from being damaged due to relative sliding between the wheel pair and the steel rail. And after that, when the phase of the traction motor is smaller than the preset value, the linear controller transmits a correction value equal to 1 to the controller, and the controller receives the correction value and then controls the electromagnetic torque signal to change, so that the inverter receiving the electromagnetic torque signal increases the current transmitted to the traction motor, the power of the traction motor is increased, the torque of the traction motor is further increased, and the traction force of the rail train is improved on the premise of avoiding the sliding between the wheel pair and the steel rail.
In the present invention, unless otherwise specifically stated, the terms "mounted," "connected," "fixed," and the like are to be understood broadly, and for example, may be fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, or communicable with each other; they may be directly connected or indirectly connected through an intermediate medium, or they may be connected internally or in any other manner known to those skilled in the art, unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A rail train wheel rail adhesion control method is characterized by comprising the following steps:
inputting a creep signal to a traction motor;
detecting a speed signal of the traction motor and a torque current signal of the traction motor;
acquiring the phase of the speed signal and the phase of the torque current signal;
inputting a phase of the speed signal and a phase of the torque current signal to a linear controller, the adhesion controller calculating a phase difference between the phase of the speed signal and the phase of the torque current signal;
the linear controller controls the torque of the traction motor so that the phase difference is equal to a preset value.
2. The rail train wheel rail adhesion control method of claim 1, wherein the controller modifies an electromagnetic torque signal of the traction motor to make the phase difference equal to a preset value.
3. The rail train wheel rail adhesion control method of claim 1, wherein the creep signal is a sinusoidal signal.
4. The rail train wheel rail adhesion control method of claim 3, wherein the magnitude of the creep signal is no greater than 5% of the magnitude of the traction motor drive signal.
5. The rail train wheel rail adhesion control method of claim 1, wherein the speed signal of the traction motor is detected by an angular velocity sensor.
6. The rail train wheel rail adhesion control method of claim 1, wherein the torque current signal is obtained by an inverter.
7. The rail train wheel rail adhesion control method of any one of claims 1-6, comprising, prior to obtaining the phases of the speed signal and the torque current signal:
and carrying out filtering processing on the speed signal.
8. The rail train wheel rail adhesion control method of claim 7, wherein the speed signal is filtered by a low pass filter and a high pass filter.
9. The rail train wheel rail adhesion control method of any one of claims 1-6, comprising, prior to obtaining the phases of the speed signal and the torque current signal:
and carrying out filtering processing on the torque current signal.
10. The rail train wheel rail adhesion control method of claim 9, wherein the torque current signal is filtered by a low pass filter and a high pass filter.
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| CN201811618540.0A CN111376731B (en) | 2018-12-28 | 2018-12-28 | Rail train wheel rail adhesion control method |
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| CN201811618540.0A CN111376731B (en) | 2018-12-28 | 2018-12-28 | Rail train wheel rail adhesion control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113942399A (en) * | 2021-11-24 | 2022-01-18 | 中车大连机车车辆有限公司 | Control method for inhibiting low-speed idling of locomotive |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113942399A (en) * | 2021-11-24 | 2022-01-18 | 中车大连机车车辆有限公司 | Control method for inhibiting low-speed idling of locomotive |
| CN113942399B (en) * | 2021-11-24 | 2023-08-04 | 中车大连机车车辆有限公司 | Control method for inhibiting locomotive from idling at low speed |
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| CN111376731B (en) | 2021-09-10 |
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